Coordinate transform from sensor to North East Down frame

[9988776655]

I am using an algorithm that transforms from my sensor frame to North West Up and I want to instead use North East Down. I have attached the current algorithm. I also want to skip the first step in my algorithm.

Here is the current algorithm:
http://www.filedropper.com/transformationalgorithm

Any suggestions?

 

[mfb]

I don't understand your current algorithm, but going from North West Up to North East Down looks like simple sign flips for two coordinates.